Manipulator



Dec. 2, 1930. J. A. SMITMANS 1,783,815

MANIPULATOR Filed May 19, 1927 4 5 Sheets-Sheet l a, INZNTOR Dec. 2; 1930. J. A. SMITMANS MAN I PULATOR Filed May 19, 1927 3 Sheets-Sheet 2 INVENTOR Dec.-2, 1930. J. A. SMITMANS 1,783,815

MANIPULATOR Filed May 19, 1927 3 Sheets-Sheet 3 Patented Dec. 2 1930 3 JOHN A. slain/inns; or rrrrsnnne r; rEnNsYLvANImnssIeNoR o, omens!) nner nnnnrne & FOUNDRY COMPANY, or PITTSBURGH, (PENNSYLVANIA; A GORPORA;

V TIGN OF PENNSYLVANIA V MALTIPULATOR ApplicationfiledrMay'19, 192? Saran No. 192,769.

This invention relates tomanipulators and more particularly to manipulatorshavingandh to imcomprises a crank 12 having pitman 13 contilting fingers and side guards, proved operating means therefor.

An important object of thisinvention is the provision of improved operatingfmeans for tilting fingers.

Another object is toprovide improvedtilt v ing finger operating meansfmovable bodily p with a side guard. of thecrank 12','thus forming a universalclonk 'A further object is t'o provide a manipulator having selectivelyoperable side guards and improved tilting finger operating means I associatedtherewith.

Certain other 'objects and advantages will: be hereinafter pointed out with particular reference to the accompanying drawings,

illustrating the present preferred embodiments of my invention.

In thedrawings:

Figure '1 is a top plan view illustrating, a

manipulator embodying my invention; Figure 2 is asectional view taken on the line IIII of Figure 1; Figure 3 is a'sectional viewr-takenon line III-IIIofFig-ure1;p 1 i Figure 4 is a detail view of the preferred rack and pinion construction; and v Figure v5 is a detail sectional view, to enlarged scale, of the joint connectingthe pitman rod and the crank for operating the tilting fingers. Referring to ab1e laterally with the side guard 2; The side guards 2 and 3Lare controlled by a plu'ralityv a plurality of spaced members attachedto a' supporting frame 7. The tilting fingers lare preferably disposed between the spaced mem- V i bers which are attached to the racks 6.

bers of side guards 2 andare adapted to re,- cip-rocate vertically while depending from pivotal connections'8 at the ends of levers 9.

The leversl9 are keyed to aflshaft conthe illustrated embodiment there is shown a manipulator having movable side guards 23, and tilting fingers 4 'mov nel bearing member '21.

falling through the roll bed R trolled by the tilting mags h a generally by 11, V y l The tilting mechanism (Fig.2) I preferably nected thereto,the pitman cooperating with a lever 9" through a ball and socket joint 14. The :pitman 13 is preferably provided with a forked end (Fig. '5) attached toa trunnion oscillated about the axis of the shaft l0,

thereby resulting in'vertical movement of the, tilting fingers 4; attached to the "outer ends ofthelevers 9. a

1 The crank 12 isv preferably attached :tofthe end of a'shaf-t'16 havinga non-circularcross- I section,",-preferably square, the shaft being I adapted to slide longitudinally through 'a gear 17 having an opening corresponding to thec ontour'lof the shaft 16, The gear 17 is rotate'dfjby a motor 18; stationary onlthe main frame'ofthe manipulator. y

The frame 7 carrying the side -guardq2 and the tilting fingers 4 together with thei'r associated'mechanism is adapted to be moved laterally of the roll bedR by means of racks 5 cooperating with pinionsb rotated by shaft-S geared to amotor M1 through suitable reducing gearing, indicated generally by G The racks15 are attached to the-frame '7 by longitudinal members 19 The frame? and its associated parts is sup ported by shoes QOISIldlBg OII asui-tablechan- Suitably shaped scale guards 22 ,overlie theybearing members i 21 when-the parts are inthe position shown in Figure 2 thereby ipreventing-scale from upon the bearing surfaces.

The-sideguard 3 is su V 23 slidable on. hearing members 24. HThe frame is icontrolledby longitudinal mem- Movement of the racksffi is controlled by pinions 6 which are mounted on a shaft S Theoshaft S is controlled ,by a motor-M;

n e by a r through suitable gearing indicated generally b G As shown in Figure 4, the racks 5 and 6 and gears 5 and 6 are shrouded so that the weight of the racks is carried by the shrouds. As illustrated, the gear shrouds preferably terminate at the pitch line of the gears and the rack shrouds terminate at the pitch line of the racks. The racks are preferably attached to the longitudinal members 19 and 25 which are guided by bearing pieces 19 and 25 attached to obliquely extending mem bers 26, which are attached. to the mainframe supporting the manipulator mechanism. It will thus be seen that the racks are guided from above and below by the bearing pieces 19 and 25 supported by members 26, and by the shrouded gears 5 and 6 v The longitudinal members 25 may be provided with scale guards 27 which overlie the bearing members 24. It will be observed that the bearing surfaces 24 are always protected from scale by longitudinal members 25 inasmuch as the material handled lies between the side guards. On the other hand, the bearing members 21 would be exposed to scale dropping from the roll bed were it not for the guards 22 which extend laterally across and beneath the roll bed.

It will be noted that the tilting finger 8 adjacent the discharge end of the roll bed is preferably U shaped in order to obviate the necessity of supporting that portion of the side guard 2 which extends outside of hat tilting finger. The tilting finger, therefore, is preferably formed to extend beneath and around the side guard 2. It will be ob- "ious that the side guard could be divided to provide room for an ordinary tilting finger,

if so desired, without departing from the spirit of the invention.

The tilting finger mechanism herein described has certain inherent advantages due to the motor being stationary on the frame of the manipulator, although the tilting fingers are movable transversely of the roll table with the side guard 2. Although no sliding electrical contact is necessary, accurate control ofthe fingers at all times provided through the squared shaft 16 which is slidable longitudinally in the gear 17. The gear 17 may be rotatably secured in any suitably bearing 17 attached to the frame supporting the mechanism 7. The pitman 13 controlling the tilting fingers 4 is capable of readily assuming any desired angular position by reason of the ball and socket joint connecting its upper end with the lever 9 and by reason of the forked end engaging a trunnion block 15 rotatable on the pin of the crank 12.

It will be observed that, the shafts S S are indicated as having extension'portions 55 and S by which the manipulator may be connected up to a corresponding manipulator lying adjacent the device.

Thus I provide an improved manipulator operating mechanism wherein the tilting fingers are movable laterally across the roll bed and are controlled by a motor remaining stationary with respect. to the roll bed. Moreover, I provide a manipulator having improved side guard controlling means whereby the side guards are movable selectively across the roll bed.

Further advantages accrued to my invention by reason of the provision of an improved tilting finger operating mechanism 7 comprising a pitman having one end thereof oscillable in a plurality of directions and having the other end constrained to a circular path.

Further advantages arise from the provision of a manipulator having a side guard comprising a plurality of spaced members, and tilting fingers disposed intermediate the spaced members, the tilting fingers being movable laterally with the side guards and being operable by a motor stationary with respect to the frame of the'manipulator.

lVhile I have illustrated and described the present preferred embodiment of my invention, it will be understood that it is not limited thereto, but that the invention may be otherwise embodied within the scope of the following claims.

I claim:

1. Means for operating a tilting finger, including a pivoted lever attached to the finger, a pitman engaging the lever, and a crank movable about an axis substantially normal to the axis of the lever pivot for operating the pitman whereby the lever is oscillated about its pivot.

2. Means for'operating a tilting finger, including a pivoted lever operatively attached to the finger, a pitman engaging the lever, said pitman having a connection with the lever capable of permitting movement thereof in a. plurality 'of directions relatively to the lever, and a crank for operating the pitman.

3. Means for operating a tilting finger, including, a pivoted lever operatively attached to the finger, a pitman engaging the lever, said pitman having a connection with the lever capable of permitting movement thereof in a plurality of directions relatively t the lever, and a crank for operating the pitman, said crank having a crank pin, and means connecting the pitman to the crank pin.

i. Means for operating a tilting finger, including a lever operatively attached to the finger, said lever having a socket associated therewith, a pitman terminating in a ball adapted to cooperate with the socket, a crank pin for moving the pitman, and a means for rotating the crank pin.

5. Means for operating a tilting finger, including a lever operatively attached to the finger, said lever having a socket associated therewith, a pitman terminating in a ball adapted to cooperate with the socket, a crank pin for moving the pitman, and a trunnion block adapted to transmit motion from the crank pin to the pitman, said block being rotatably mounted on thecrank pin and having a trunnion thereof engaged by the pittherewith, a pitman terminatin adapted to cooperate with the soc et,a crank pin for moving the pitman, and a means for 6. Means foroperating a tiltingfinger, inv eluding a'lever operativelyv attached to the finger, said leveh having a socket associated in a ball rotating the crank pin, said means comprising a. shaft slidable longitudinally through a pinion, the shaft being of non-circular crosssection and the pinion having an opening substantially conforming with the contour of the shaft.

7. The combination with v a manipulator having a stationary frame and a movable side guard with a tilting finger associated with the guard of operating means for the. tilt ing finger, said means including a lever operatively attachedto the finger, a. pitman engaging the, lever, a crank for operating the pitman, a shaft for rotatingthe crank, the shaft being slidalole longitudinally through a pinion and having a: non-circular cross-section substantially conforming with a cooperating opening in the pinion, said pinion being operable by a motor stationary with respect to the frame, the cross-section of the shaft being uniform whereby the shaft isslidable through the pinion without effecting rotation.

8. The combination with a manipulator having a stationary frame and a movable side guard having a plurality of tilting fingers associated therewith, of operating means for the tilting fingers, said means including a plurality'of levers to which the fingers are attached, said levers being mounted on rotatable means controlled by a common rotating mechanism, the rotating mechanism comprising a'lever attached to the rotatable means, said lever having a socket thereon, a pitman terminating in a ball adapted tocooperate with said socket, means movable in a substantially circular path for operatingthe pitman, and connecting means attaching the pitman operating means to the pitman.

9. The combination with a manipulator having a stationary frame and a movable side guard having a plurality of tilting fingers associated therewith, of voperating means for the tilting fingers, said means including a plurality of levers to which the fingersare attached, said levers being mounted on'rotatable means controlledby a common rotating mechanism, the rotating mechanism comprising fa llever attachetl fto 'theigrotjatab'le means,- said lever having :socket then-conga cr nk :.=pin i for soperating" the l pitmangand connecting. means atta'ching the crank pin to the pitman, said means comprisinga mmill-. :mani pulator :in'cllldi ng flever '{a tilting finger carried thereby,-ineans operable iln2a plane at? an angle to -the plane of the lever for operating the same, and a pitman con nectingQthe-Eoperating.means and the lever, each end of the pitman having a universal connection. i

12. A manipulator including a lever, a tilting finger carried thereby, operating means movable in a plane at an angle to the plane of the lever, a pitman connecting the operating means and the'lever, and a ball and socket joint connecting the pitman and the lever, the pitman having a universal connection with the operating means. 7

13. A manipulator including a lever, a plurality of tilting fingers, means connecting the tilting fingers, said'mean-s being operable by thelever, means movable in aplaneat an angle to'the' plane of the lever for operatingthe same, a pitman connecting the operating means and the lever, and a ball and socket joint connecting pitman and the'lever, the other end of the pitman havinga universal connection with the operating means.

14. Means for operating a tilting finger,

including a lever operatively attached to the finger adj acent-one end and having a pivotal mounting adjacent its opposite end, a pitman having a universal connection with the lever lntermedlate 1ts ends, and means for operat ing the pitman. r

15. Means for operating a tilting finger, includingalever operatively attached to the finger adjacent one end and having a pivotal ,mo'unting adjacent its opposite end, a pitman Qhavinga universal connection with the lever intermediate its ends, and means for operate 7 ing the pitman, said means comprising a crank located below the lever. v

1 16. Means for operating a tilting'finger,

including a lever operatively attached to the finger adj acentone end andhaving a pivotal mounting adjacent its opposite end, a pitman having a universal connection with the lever intermediate itsends, and means for' operating the pitman, said meanscomprising a crank located below the lever, and having its axis of rotation substantially normal to said pivotal mounting.

17. Means for operating a tilting finger,

including a pivoted lever operatively attached to the finger, a pitman having universal connection with said lever, and a crank for operating the pitman, said crank lying 5 below said lever.

18. Means for operating a tilting finger, including a lever operatively attached to the finger adjacent one end, said lever having a socket associated with an intermediate portion thereof, a pitman terminating in a ball adapted to cooperate with the socket, and a crank for effecting movement of said pitman;

19. Means for operating a tilting finger, including a lever, a crank below the lever,

and a universal operating connection between the crank and lever.

In testimony whereof I have hereunto set my hand.

JOHN A. SMITMANS. 

